Pileus Git - ~andy/linux/blob - drivers/staging/comedi/drivers/jr3_pci.c

   1 /*
   2   comedi/drivers/jr3_pci.c
   3   hardware driver for JR3/PCI force sensor board
   4
   5   COMEDI - Linux Control and Measurement Device Interface
   6   Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
   7
   8   This program is free software; you can redistribute it and/or modify
   9   it under the terms of the GNU General Public License as published by
  10   the Free Software Foundation; either version 2 of the License, or
  11   (at your option) any later version.
  12
  13   This program is distributed in the hope that it will be useful,
  14   but WITHOUT ANY WARRANTY; without even the implied warranty of
  15   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16   GNU General Public License for more details.
  17
  18   You should have received a copy of the GNU General Public License
  19   along with this program; if not, write to the Free Software
  20   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23 /*
  24 Driver: jr3_pci
  25 Description: JR3/PCI force sensor board
  26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
  27 Status: works
  28 Devices: [JR3] PCI force sensor board (jr3_pci)
  29
  30   The DSP on the board requires initialization code, which can
  31   be loaded by placing it in /lib/firmware/comedi.
  32   The initialization code should be somewhere on the media you got
  33   with your card. One version is available from http://www.comedi.org
  34   in the comedi_nonfree_firmware tarball.
  35
  36   Configuration options:
  37   [0] - PCI bus number - if bus number and slot number are 0,
  38                          then driver search for first unused card
  39   [1] - PCI slot number
  40
  41 */
  42
  43 #include "../comedidev.h"
  44
  45 #include <linux/delay.h>
  46 #include <linux/ctype.h>
  47 #include <linux/firmware.h>
  48 #include <linux/jiffies.h>
  49 #include <linux/slab.h>
  50 #include <linux/timer.h>
  51 #include <linux/kernel.h>
  52 #include "jr3_pci.h"
  53
  54 #define PCI_VENDOR_ID_JR3 0x1762
  55 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  56 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
  57 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  58 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  59 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  60
  61 struct jr3_pci_dev_private {
  62
  63         struct pci_dev *pci_dev;
  64         int pci_enabled;
  65         volatile struct jr3_t *iobase;
  66         int n_channels;
  67         struct timer_list timer;
  68 };
  69
  70 struct poll_delay_t {
  71
  72         int min;
  73         int max;
  74 };
  75
  76 struct jr3_pci_subdev_private {
  77         volatile struct jr3_channel *channel;
  78         unsigned long next_time_min;
  79         unsigned long next_time_max;
  80         enum { state_jr3_poll,
  81                 state_jr3_init_wait_for_offset,
  82                 state_jr3_init_transform_complete,
  83                 state_jr3_init_set_full_scale_complete,
  84                 state_jr3_init_use_offset_complete,
  85                 state_jr3_done
  86         } state;
  87         int channel_no;
  88         int serial_no;
  89         int model_no;
  90         struct {
  91                 int length;
  92                 struct comedi_krange range;
  93         } range[9];
  94         const struct comedi_lrange *range_table_list[8 * 7 + 2];
  95         unsigned int maxdata_list[8 * 7 + 2];
  96         u16 errors;
  97         int retries;
  98 };
  99
 100 /* Hotplug firmware loading stuff */
 101 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 102                                 int (*cb)(struct comedi_device *dev,
 103                                         const u8 *data, size_t size))
 104 {
 105         int result = 0;
 106         const struct firmware *fw;
 107         char *firmware_path;
 108         static const char *prefix = "comedi/";
 109         struct jr3_pci_dev_private *devpriv = dev->private;
 110
 111         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 112         if (!firmware_path) {
 113                 result = -ENOMEM;
 114         } else {
 115                 firmware_path[0] = '\0';
 116                 strcat(firmware_path, prefix);
 117                 strcat(firmware_path, name);
 118                 result = request_firmware(&fw, firmware_path,
 119                                           &devpriv->pci_dev->dev);
 120                 if (result == 0) {
 121                         if (!cb)
 122                                 result = -EINVAL;
 123                         else
 124                                 result = cb(dev, fw->data, fw->size);
 125                         release_firmware(fw);
 126                 }
 127                 kfree(firmware_path);
 128         }
 129         return result;
 130 }
 131
 132 static struct poll_delay_t poll_delay_min_max(int min, int max)
 133 {
 134         struct poll_delay_t result;
 135
 136         result.min = min;
 137         result.max = max;
 138         return result;
 139 }
 140
 141 static int is_complete(volatile struct jr3_channel *channel)
 142 {
 143         return get_s16(&channel->command_word0) == 0;
 144 }
 145
 146 struct transform_t {
 147         struct {
 148                 u16 link_type;
 149                 s16 link_amount;
 150         } link[8];
 151 };
 152
 153 static void set_transforms(volatile struct jr3_channel *channel,
 154                            struct transform_t transf, short num)
 155 {
 156         int i;
 157
 158         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 159         for (i = 0; i < 8; i++) {
 160
 161                 set_u16(&channel->transforms[num].link[i].link_type,
 162                         transf.link[i].link_type);
 163                 udelay(1);
 164                 set_s16(&channel->transforms[num].link[i].link_amount,
 165                         transf.link[i].link_amount);
 166                 udelay(1);
 167                 if (transf.link[i].link_type == end_x_form)
 168                         break;
 169         }
 170 }
 171
 172 static void use_transform(volatile struct jr3_channel *channel,
 173                           short transf_num)
 174 {
 175         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 176 }
 177
 178 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 179 {
 180         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 181 }
 182
 183 static void set_offset(volatile struct jr3_channel *channel)
 184 {
 185         set_s16(&channel->command_word0, 0x0700);
 186 }
 187
 188 struct six_axis_t {
 189         s16 fx;
 190         s16 fy;
 191         s16 fz;
 192         s16 mx;
 193         s16 my;
 194         s16 mz;
 195 };
 196
 197 static void set_full_scales(volatile struct jr3_channel *channel,
 198                             struct six_axis_t full_scale)
 199 {
 200         printk("%d %d %d %d %d %d\n",
 201                full_scale.fx,
 202                full_scale.fy,
 203                full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 204         set_s16(&channel->full_scale.fx, full_scale.fx);
 205         set_s16(&channel->full_scale.fy, full_scale.fy);
 206         set_s16(&channel->full_scale.fz, full_scale.fz);
 207         set_s16(&channel->full_scale.mx, full_scale.mx);
 208         set_s16(&channel->full_scale.my, full_scale.my);
 209         set_s16(&channel->full_scale.mz, full_scale.mz);
 210         set_s16(&channel->command_word0, 0x0a00);
 211 }
 212
 213 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
 214                                              *channel)
 215 {
 216         struct six_axis_t result;
 217         result.fx = get_s16(&channel->min_full_scale.fx);
 218         result.fy = get_s16(&channel->min_full_scale.fy);
 219         result.fz = get_s16(&channel->min_full_scale.fz);
 220         result.mx = get_s16(&channel->min_full_scale.mx);
 221         result.my = get_s16(&channel->min_full_scale.my);
 222         result.mz = get_s16(&channel->min_full_scale.mz);
 223         return result;
 224 }
 225
 226 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
 227                                              *channel)
 228 {
 229         struct six_axis_t result;
 230         result.fx = get_s16(&channel->max_full_scale.fx);
 231         result.fy = get_s16(&channel->max_full_scale.fy);
 232         result.fz = get_s16(&channel->max_full_scale.fz);
 233         result.mx = get_s16(&channel->max_full_scale.mx);
 234         result.my = get_s16(&channel->max_full_scale.my);
 235         result.mz = get_s16(&channel->max_full_scale.mz);
 236         return result;
 237 }
 238
 239 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 240                                 struct comedi_subdevice *s,
 241                                 struct comedi_insn *insn, unsigned int *data)
 242 {
 243         int result;
 244         struct jr3_pci_subdev_private *p;
 245         int channel;
 246
 247         p = s->private;
 248         channel = CR_CHAN(insn->chanspec);
 249         if (p == NULL || channel > 57) {
 250                 result = -EINVAL;
 251         } else {
 252                 int i;
 253
 254                 result = insn->n;
 255                 if (p->state != state_jr3_done ||
 256                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 257                                                      sensor_change))) {
 258                         /* No sensor or sensor changed */
 259                         if (p->state == state_jr3_done) {
 260                                 /* Restart polling */
 261                                 p->state = state_jr3_poll;
 262                         }
 263                         result = -EAGAIN;
 264                 }
 265                 for (i = 0; i < insn->n; i++) {
 266                         if (channel < 56) {
 267                                 int axis, filter;
 268
 269                                 axis = channel % 8;
 270                                 filter = channel / 8;
 271                                 if (p->state != state_jr3_done) {
 272                                         data[i] = 0;
 273                                 } else {
 274                                         int F = 0;
 275                                         switch (axis) {
 276                                         case 0:{
 277                                                         F = get_s16
 278                                                             (&p->channel->filter
 279                                                              [filter].fx);
 280                                                 }
 281                                                 break;
 282                                         case 1:{
 283                                                         F = get_s16
 284                                                             (&p->channel->filter
 285                                                              [filter].fy);
 286                                                 }
 287                                                 break;
 288                                         case 2:{
 289                                                         F = get_s16
 290                                                             (&p->channel->filter
 291                                                              [filter].fz);
 292                                                 }
 293                                                 break;
 294                                         case 3:{
 295                                                         F = get_s16
 296                                                             (&p->channel->filter
 297                                                              [filter].mx);
 298                                                 }
 299                                                 break;
 300                                         case 4:{
 301                                                         F = get_s16
 302                                                             (&p->channel->filter
 303                                                              [filter].my);
 304                                                 }
 305                                                 break;
 306                                         case 5:{
 307                                                         F = get_s16
 308                                                             (&p->channel->filter
 309                                                              [filter].mz);
 310                                                 }
 311                                                 break;
 312                                         case 6:{
 313                                                         F = get_s16
 314                                                             (&p->channel->filter
 315                                                              [filter].v1);
 316                                                 }
 317                                                 break;
 318                                         case 7:{
 319                                                         F = get_s16
 320                                                             (&p->channel->filter
 321                                                              [filter].v2);
 322                                                 }
 323                                                 break;
 324                                         }
 325                                         data[i] = F + 0x4000;
 326                                 }
 327                         } else if (channel == 56) {
 328                                 if (p->state != state_jr3_done) {
 329                                         data[i] = 0;
 330                                 } else {
 331                                         data[i] =
 332                                             get_u16(&p->channel->model_no);
 333                                 }
 334                         } else if (channel == 57) {
 335                                 if (p->state != state_jr3_done) {
 336                                         data[i] = 0;
 337                                 } else {
 338                                         data[i] =
 339                                             get_u16(&p->channel->serial_no);
 340                                 }
 341                         }
 342                 }
 343         }
 344         return result;
 345 }
 346
 347 static int jr3_pci_open(struct comedi_device *dev)
 348 {
 349         int i;
 350         struct jr3_pci_dev_private *devpriv = dev->private;
 351
 352         dev_dbg(dev->hw_dev, "jr3_pci_open\n");
 353         for (i = 0; i < devpriv->n_channels; i++) {
 354                 struct jr3_pci_subdev_private *p;
 355
 356                 p = dev->subdevices[i].private;
 357                 if (p) {
 358                         dev_dbg(dev->hw_dev, "serial: %p %d (%d)\n", p,
 359                                 p->serial_no, p->channel_no);
 360                 }
 361         }
 362         return 0;
 363 }
 364
 365 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 366 {
 367         int result = 0;
 368         if (pos != 0 && val != 0) {
 369                 /*  Skip over non hex */
 370                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 371                 }
 372                 /*  Collect value */
 373                 *val = 0;
 374                 for (; *pos < size; (*pos)++) {
 375                         int value;
 376                         value = hex_to_bin(data[*pos]);
 377                         if (value >= 0) {
 378                                 result = 1;
 379                                 *val = (*val << 4) + value;
 380                         } else
 381                                 break;
 382                 }
 383         }
 384         return result;
 385 }
 386
 387 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 388                                  size_t size)
 389 {
 390         /*
 391          * IDM file format is:
 392          *   { count, address, data <count> } *
 393          *   ffff
 394          */
 395         int result, more, pos, OK;
 396
 397         result = 0;
 398         more = 1;
 399         pos = 0;
 400         OK = 0;
 401         while (more) {
 402                 unsigned int count, addr;
 403
 404                 more = more && read_idm_word(data, size, &pos, &count);
 405                 if (more && count == 0xffff) {
 406                         OK = 1;
 407                         break;
 408                 }
 409                 more = more && read_idm_word(data, size, &pos, &addr);
 410                 while (more && count > 0) {
 411                         unsigned int dummy;
 412                         more = more && read_idm_word(data, size, &pos, &dummy);
 413                         count--;
 414                 }
 415         }
 416
 417         if (!OK) {
 418                 result = -ENODATA;
 419         } else {
 420                 int i;
 421                 struct jr3_pci_dev_private *p = dev->private;
 422
 423                 for (i = 0; i < p->n_channels; i++) {
 424                         struct jr3_pci_subdev_private *sp;
 425
 426                         sp = dev->subdevices[i].private;
 427                         more = 1;
 428                         pos = 0;
 429                         while (more) {
 430                                 unsigned int count, addr;
 431                                 more = more
 432                                     && read_idm_word(data, size, &pos, &count);
 433                                 if (more && count == 0xffff)
 434                                         break;
 435                                 more = more
 436                                     && read_idm_word(data, size, &pos, &addr);
 437                                 dev_dbg(dev->hw_dev, "Loading#%d %4.4x bytes at %4.4x\n",
 438                                         i, count, addr);
 439                                 while (more && count > 0) {
 440                                         if (addr & 0x4000) {
 441                                                 /*  16 bit data, never seen in real life!! */
 442                                                 unsigned int data1;
 443
 444                                                 more = more
 445                                                     && read_idm_word(data,
 446                                                                      size, &pos,
 447                                                                      &data1);
 448                                                 count--;
 449                                                 /* printk("jr3_data, not tested\n"); */
 450                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 451                                         } else {
 452                                                 /*   Download 24 bit program */
 453                                                 unsigned int data1, data2;
 454
 455                                                 more = more
 456                                                     && read_idm_word(data,
 457                                                                      size, &pos,
 458                                                                      &data1);
 459                                                 more = more
 460                                                     && read_idm_word(data, size,
 461                                                                      &pos,
 462                                                                      &data2);
 463                                                 count -= 2;
 464                                                 if (more) {
 465                                                         set_u16(&p->
 466                                                                 iobase->channel
 467                                                                 [i].program_low
 468                                                                 [addr], data1);
 469                                                         udelay(1);
 470                                                         set_u16(&p->
 471                                                                 iobase->channel
 472                                                                 [i].program_high
 473                                                                 [addr], data2);
 474                                                         udelay(1);
 475
 476                                                 }
 477                                         }
 478                                         addr++;
 479                                 }
 480                         }
 481                 }
 482         }
 483         return result;
 484 }
 485
 486 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 487 {
 488         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 489         struct jr3_pci_subdev_private *p = s->private;
 490         int i;
 491
 492         if (p) {
 493                 volatile struct jr3_channel *channel = p->channel;
 494                 int errors = get_u16(&channel->errors);
 495
 496                 if (errors != p->errors) {
 497                         printk("Errors: %x -> %x\n", p->errors, errors);
 498                         p->errors = errors;
 499                 }
 500                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 501                         /*  Sensor communication lost, force poll mode */
 502                         p->state = state_jr3_poll;
 503
 504                 }
 505                 switch (p->state) {
 506                 case state_jr3_poll:{
 507                                 u16 model_no = get_u16(&channel->model_no);
 508                                 u16 serial_no = get_u16(&channel->serial_no);
 509                                 if ((errors & (watch_dog | watch_dog2)) ||
 510                                     model_no == 0 || serial_no == 0) {
 511 /*
 512  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 513  * for offsets to stabilize, polling each second should suffice.
 514  */
 515                                         result = poll_delay_min_max(1000, 2000);
 516                                 } else {
 517                                         p->retries = 0;
 518                                         p->state =
 519                                             state_jr3_init_wait_for_offset;
 520                                         result = poll_delay_min_max(1000, 2000);
 521                                 }
 522                         }
 523                         break;
 524                 case state_jr3_init_wait_for_offset:{
 525                                 p->retries++;
 526                                 if (p->retries < 10) {
 527                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 528                                         result = poll_delay_min_max(1000, 2000);
 529                                 } else {
 530                                         struct transform_t transf;
 531
 532                                         p->model_no =
 533                                             get_u16(&channel->model_no);
 534                                         p->serial_no =
 535                                             get_u16(&channel->serial_no);
 536
 537                                         printk
 538                                             ("Setting transform for channel %d\n",
 539                                              p->channel_no);
 540                                         printk("Sensor Model     = %i\n",
 541                                                p->model_no);
 542                                         printk("Sensor Serial    = %i\n",
 543                                                p->serial_no);
 544
 545                                         /*  Transformation all zeros */
 546                                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 547                                                 transf.link[i].link_type =
 548                                                         (enum link_types)0;
 549                                                 transf.link[i].link_amount = 0;
 550                                         }
 551
 552                                         set_transforms(channel, transf, 0);
 553                                         use_transform(channel, 0);
 554                                         p->state =
 555                                             state_jr3_init_transform_complete;
 556                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 557                                 }
 558                         } break;
 559                 case state_jr3_init_transform_complete:{
 560                                 if (!is_complete(channel)) {
 561                                         printk
 562                                             ("state_jr3_init_transform_complete complete = %d\n",
 563                                              is_complete(channel));
 564                                         result = poll_delay_min_max(20, 100);
 565                                 } else {
 566                                         /*  Set full scale */
 567                                         struct six_axis_t min_full_scale;
 568                                         struct six_axis_t max_full_scale;
 569
 570                                         min_full_scale =
 571                                             get_min_full_scales(channel);
 572                                         printk("Obtained Min. Full Scales:\n");
 573                                         printk(KERN_DEBUG "%i ", (min_full_scale).fx);
 574                                         printk(KERN_CONT "%i ", (min_full_scale).fy);
 575                                         printk(KERN_CONT "%i ", (min_full_scale).fz);
 576                                         printk(KERN_CONT "%i ", (min_full_scale).mx);
 577                                         printk(KERN_CONT "%i ", (min_full_scale).my);
 578                                         printk(KERN_CONT "%i ", (min_full_scale).mz);
 579                                         printk(KERN_CONT "\n");
 580
 581                                         max_full_scale =
 582                                             get_max_full_scales(channel);
 583                                         printk("Obtained Max. Full Scales:\n");
 584                                         printk(KERN_DEBUG "%i ", (max_full_scale).fx);
 585                                         printk(KERN_CONT "%i ", (max_full_scale).fy);
 586                                         printk(KERN_CONT "%i ", (max_full_scale).fz);
 587                                         printk(KERN_CONT "%i ", (max_full_scale).mx);
 588                                         printk(KERN_CONT "%i ", (max_full_scale).my);
 589                                         printk(KERN_CONT "%i ", (max_full_scale).mz);
 590                                         printk(KERN_CONT "\n");
 591
 592                                         set_full_scales(channel,
 593                                                         max_full_scale);
 594
 595                                         p->state =
 596                                             state_jr3_init_set_full_scale_complete;
 597                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 598                                 }
 599                         }
 600                         break;
 601                 case state_jr3_init_set_full_scale_complete:{
 602                                 if (!is_complete(channel)) {
 603                                         printk
 604                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 605                                              is_complete(channel));
 606                                         result = poll_delay_min_max(20, 100);
 607                                 } else {
 608                                         volatile struct force_array *full_scale;
 609
 610                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 611                                         full_scale = &channel->full_scale;
 612                                         p->range[0].range.min =
 613                                             -get_s16(&full_scale->fx) * 1000;
 614                                         p->range[0].range.max =
 615                                             get_s16(&full_scale->fx) * 1000;
 616                                         p->range[1].range.min =
 617                                             -get_s16(&full_scale->fy) * 1000;
 618                                         p->range[1].range.max =
 619                                             get_s16(&full_scale->fy) * 1000;
 620                                         p->range[2].range.min =
 621                                             -get_s16(&full_scale->fz) * 1000;
 622                                         p->range[2].range.max =
 623                                             get_s16(&full_scale->fz) * 1000;
 624                                         p->range[3].range.min =
 625                                             -get_s16(&full_scale->mx) * 100;
 626                                         p->range[3].range.max =
 627                                             get_s16(&full_scale->mx) * 100;
 628                                         p->range[4].range.min =
 629                                             -get_s16(&full_scale->my) * 100;
 630                                         p->range[4].range.max =
 631                                             get_s16(&full_scale->my) * 100;
 632                                         p->range[5].range.min =
 633                                             -get_s16(&full_scale->mz) * 100;
 634                                         p->range[5].range.max =
 635                                             get_s16(&full_scale->mz) * 100;
 636                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 637                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 638                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 639                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 640                                         p->range[8].range.min = 0;
 641                                         p->range[8].range.max = 65535;
 642
 643                                         {
 644                                                 int i;
 645                                                 for (i = 0; i < 9; i++) {
 646                                                         printk("%d %d - %d\n",
 647                                                                i,
 648                                                                p->
 649                                                                range[i].range.
 650                                                                min,
 651                                                                p->
 652                                                                range[i].range.
 653                                                                max);
 654                                                 }
 655                                         }
 656
 657                                         use_offset(channel, 0);
 658                                         p->state =
 659                                             state_jr3_init_use_offset_complete;
 660                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 661                                 }
 662                         }
 663                         break;
 664                 case state_jr3_init_use_offset_complete:{
 665                                 if (!is_complete(channel)) {
 666                                         printk
 667                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 668                                              is_complete(channel));
 669                                         result = poll_delay_min_max(20, 100);
 670                                 } else {
 671                                         printk
 672                                             ("Default offsets %d %d %d %d %d %d\n",
 673                                              get_s16(&channel->offsets.fx),
 674                                              get_s16(&channel->offsets.fy),
 675                                              get_s16(&channel->offsets.fz),
 676                                              get_s16(&channel->offsets.mx),
 677                                              get_s16(&channel->offsets.my),
 678                                              get_s16(&channel->offsets.mz));
 679
 680                                         set_s16(&channel->offsets.fx, 0);
 681                                         set_s16(&channel->offsets.fy, 0);
 682                                         set_s16(&channel->offsets.fz, 0);
 683                                         set_s16(&channel->offsets.mx, 0);
 684                                         set_s16(&channel->offsets.my, 0);
 685                                         set_s16(&channel->offsets.mz, 0);
 686
 687                                         set_offset(channel);
 688
 689                                         p->state = state_jr3_done;
 690                                 }
 691                         }
 692                         break;
 693                 case state_jr3_done:{
 694                                 poll_delay_min_max(10000, 20000);
 695                         }
 696                         break;
 697                 default:{
 698                                 poll_delay_min_max(1000, 2000);
 699                         }
 700                         break;
 701                 }
 702         }
 703         return result;
 704 }
 705
 706 static void jr3_pci_poll_dev(unsigned long data)
 707 {
 708         unsigned long flags;
 709         struct comedi_device *dev = (struct comedi_device *)data;
 710         struct jr3_pci_dev_private *devpriv = dev->private;
 711         unsigned long now;
 712         int delay;
 713         int i;
 714
 715         spin_lock_irqsave(&dev->spinlock, flags);
 716         delay = 1000;
 717         now = jiffies;
 718         /*  Poll all channels that are ready to be polled */
 719         for (i = 0; i < devpriv->n_channels; i++) {
 720                 struct jr3_pci_subdev_private *subdevpriv =
 721                     dev->subdevices[i].private;
 722                 if (now > subdevpriv->next_time_min) {
 723                         struct poll_delay_t sub_delay;
 724
 725                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 726                         subdevpriv->next_time_min =
 727                             jiffies + msecs_to_jiffies(sub_delay.min);
 728                         subdevpriv->next_time_max =
 729                             jiffies + msecs_to_jiffies(sub_delay.max);
 730                         if (sub_delay.max && sub_delay.max < delay) {
 731 /*
 732 * Wake up as late as possible -> poll as many channels as possible
 733 * at once
 734 */
 735                                 delay = sub_delay.max;
 736                         }
 737                 }
 738         }
 739         spin_unlock_irqrestore(&dev->spinlock, flags);
 740
 741         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 742         add_timer(&devpriv->timer);
 743 }
 744
 745 static int jr3_pci_attach(struct comedi_device *dev,
 746                           struct comedi_devconfig *it)
 747 {
 748         int result = 0;
 749         struct pci_dev *card = NULL;
 750         int opt_bus, opt_slot, i;
 751         struct jr3_pci_dev_private *devpriv;
 752
 753         opt_bus = it->options[0];
 754         opt_slot = it->options[1];
 755
 756         if (sizeof(struct jr3_channel) != 0xc00) {
 757                 dev_err(dev->hw_dev, "sizeof(struct jr3_channel) = %x [expected %x]\n",
 758                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 759                 return -EINVAL;
 760         }
 761
 762         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 763         if (result < 0)
 764                 return -ENOMEM;
 765         card = NULL;
 766         devpriv = dev->private;
 767         init_timer(&devpriv->timer);
 768         while (1) {
 769                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 770                 if (card == NULL) {
 771                         /* No card found */
 772                         break;
 773                 } else {
 774                         switch (card->device) {
 775                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 776                                         devpriv->n_channels = 1;
 777                                 }
 778                                 break;
 779                         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
 780                                         devpriv->n_channels = 1;
 781                                 }
 782                                 break;
 783                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 784                                         devpriv->n_channels = 2;
 785                                 }
 786                                 break;
 787                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 788                                         devpriv->n_channels = 3;
 789                                 }
 790                                 break;
 791                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 792                                         devpriv->n_channels = 4;
 793                                 }
 794                                 break;
 795                         default:{
 796                                         devpriv->n_channels = 0;
 797                                 }
 798                         }
 799                         if (devpriv->n_channels >= 1) {
 800                                 if (opt_bus == 0 && opt_slot == 0) {
 801                                         /* Take first available card */
 802                                         break;
 803                                 } else if (opt_bus == card->bus->number &&
 804                                            opt_slot == PCI_SLOT(card->devfn)) {
 805                                         /* Take requested card */
 806                                         break;
 807                                 }
 808                         }
 809                 }
 810         }
 811         if (!card) {
 812                 dev_err(dev->hw_dev, "no jr3_pci found\n");
 813                 return -EIO;
 814         } else {
 815                 devpriv->pci_dev = card;
 816                 dev->board_name = "jr3_pci";
 817         }
 818
 819         result = comedi_pci_enable(card, "jr3_pci");
 820         if (result < 0)
 821                 return -EIO;
 822
 823         devpriv->pci_enabled = 1;
 824         devpriv->iobase = ioremap(pci_resource_start(card, 0),
 825                         offsetof(struct jr3_t, channel[devpriv->n_channels]));
 826         if (!devpriv->iobase)
 827                 return -ENOMEM;
 828
 829         result = alloc_subdevices(dev, devpriv->n_channels);
 830         if (result < 0)
 831                 goto out;
 832
 833         dev->open = jr3_pci_open;
 834         for (i = 0; i < devpriv->n_channels; i++) {
 835                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 836                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 837                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 838                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 839                 dev->subdevices[i].private =
 840                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 841                 if (dev->subdevices[i].private) {
 842                         struct jr3_pci_subdev_private *p;
 843                         int j;
 844
 845                         p = dev->subdevices[i].private;
 846                         p->channel = &devpriv->iobase->channel[i].data;
 847                         dev_dbg(dev->hw_dev, "p->channel %p %p (%tx)\n",
 848                                 p->channel, devpriv->iobase,
 849                                 ((char *)(p->channel) -
 850                                  (char *)(devpriv->iobase)));
 851                         p->channel_no = i;
 852                         for (j = 0; j < 8; j++) {
 853                                 int k;
 854
 855                                 p->range[j].length = 1;
 856                                 p->range[j].range.min = -1000000;
 857                                 p->range[j].range.max = 1000000;
 858                                 for (k = 0; k < 7; k++) {
 859                                         p->range_table_list[j + k * 8] =
 860                                             (struct comedi_lrange *)&p->
 861                                             range[j];
 862                                         p->maxdata_list[j + k * 8] = 0x7fff;
 863                                 }
 864                         }
 865                         p->range[8].length = 1;
 866                         p->range[8].range.min = 0;
 867                         p->range[8].range.max = 65536;
 868
 869                         p->range_table_list[56] =
 870                             (struct comedi_lrange *)&p->range[8];
 871                         p->range_table_list[57] =
 872                             (struct comedi_lrange *)&p->range[8];
 873                         p->maxdata_list[56] = 0xffff;
 874                         p->maxdata_list[57] = 0xffff;
 875                         /*  Channel specific range and maxdata */
 876                         dev->subdevices[i].range_table = 0;
 877                         dev->subdevices[i].range_table_list =
 878                             p->range_table_list;
 879                         dev->subdevices[i].maxdata = 0;
 880                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 881                 }
 882         }
 883
 884         /*  Reset DSP card */
 885         devpriv->iobase->channel[0].reset = 0;
 886
 887         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 888         dev_dbg(dev->hw_dev, "Firmare load %d\n", result);
 889
 890         if (result < 0)
 891                 goto out;
 892 /*
 893  * TODO: use firmware to load preferred offset tables. Suggested
 894  * format:
 895  *     model serial Fx Fy Fz Mx My Mz\n
 896  *
 897  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 898  */
 899
 900 /*
 901  * It takes a few milliseconds for software to settle as much as we
 902  * can read firmware version
 903  */
 904         msleep_interruptible(25);
 905         for (i = 0; i < 0x18; i++) {
 906                 dev_dbg(dev->hw_dev, "%c\n",
 907                         get_u16(&devpriv->iobase->channel[0].
 908                                 data.copyright[i]) >> 8);
 909         }
 910
 911         /*  Start card timer */
 912         for (i = 0; i < devpriv->n_channels; i++) {
 913                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 914
 915                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 916                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 917         }
 918
 919         devpriv->timer.data = (unsigned long)dev;
 920         devpriv->timer.function = jr3_pci_poll_dev;
 921         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 922         add_timer(&devpriv->timer);
 923
 924 out:
 925         return result;
 926 }
 927
 928 static void jr3_pci_detach(struct comedi_device *dev)
 929 {
 930         int i;
 931         struct jr3_pci_dev_private *devpriv = dev->private;
 932
 933         if (devpriv) {
 934                 del_timer_sync(&devpriv->timer);
 935
 936                 if (dev->subdevices) {
 937                         for (i = 0; i < devpriv->n_channels; i++)
 938                                 kfree(dev->subdevices[i].private);
 939                 }
 940                 if (devpriv->iobase)
 941                         iounmap((void *)devpriv->iobase);
 942                 if (devpriv->pci_enabled)
 943                         comedi_pci_disable(devpriv->pci_dev);
 944                 if (devpriv->pci_dev)
 945                         pci_dev_put(devpriv->pci_dev);
 946         }
 947 }
 948
 949 static struct comedi_driver jr3_pci_driver = {
 950         .driver_name    = "jr3_pci",
 951         .module         = THIS_MODULE,
 952         .attach         = jr3_pci_attach,
 953         .detach         = jr3_pci_detach,
 954 };
 955
 956 static int __devinit jr3_pci_pci_probe(struct pci_dev *dev,
 957                                        const struct pci_device_id *ent)
 958 {
 959         return comedi_pci_auto_config(dev, &jr3_pci_driver);
 960 }
 961
 962 static void __devexit jr3_pci_pci_remove(struct pci_dev *dev)
 963 {
 964         comedi_pci_auto_unconfig(dev);
 965 }
 966
 967 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 968         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL) },
 969         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW) },
 970         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL) },
 971         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL) },
 972         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL) },
 973         { 0 }
 974 };
 975 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 976
 977 static struct pci_driver jr3_pci_pci_driver = {
 978         .name           = "jr3_pci",
 979         .id_table       = jr3_pci_pci_table,
 980         .probe          = jr3_pci_pci_probe,
 981         .remove         = __devexit_p(jr3_pci_pci_remove),
 982 };
 983 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 984
 985 MODULE_AUTHOR("Comedi http://www.comedi.org");
 986 MODULE_DESCRIPTION("Comedi low-level driver");
 987 MODULE_LICENSE("GPL");
 988 MODULE_FIRMWARE("comedi/jr3pci.idm");